import launch
import launch_ros
from ament_index_python import get_package_share_directory
import os

import launch_ros.parameter_descriptions


def generate_launch_description():

    urdf_package_path = get_package_share_directory('robot_one_description')
    default_urdf_path = os.path.join(urdf_package_path,'urdf','robot_one.urdf')
    default_rviz_config_path = urdf_package_path + '/config/rviz/display_model.rviz'
    action_declear_arg_mode_path = launch.actions.DeclareLaunchArgument(
        name='model',default_value=str(default_urdf_path)
    )

    substitutions_command_result = launch.substitutions.Command(['xacro ',launch.substitutions.LaunchConfiguration('model')])
    robot_description_value = launch_ros.parameter_descriptions.ParameterValue(substitutions_command_result,value_type=str)

    action_robot_state_publisher = launch_ros.actions.Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        parameters=[{'robot_description':robot_description_value}]
    )

    action_joint_state_publisher = launch_ros.actions.Node(
        package='joint_state_publisher',
        executable='joint_state_publisher',
    )

    action_rviz_node = launch_ros.actions.Node(
        package='rviz2',
        executable='rviz2',
        arguments=['-d',default_rviz_config_path]
    )

    return launch.LaunchDescription([
        action_declear_arg_mode_path,
        action_robot_state_publisher,
        action_joint_state_publisher,
        action_rviz_node
    ])